A delayed-plant modal controller constructed from the closed-system transfer function (Q1395105)

The authors consider a delayed stable plant given by the transfer function \[ W(p)=e^{-\tau p}\frac{P_1(p)}{P_2(p)} \] where \(P_1(p)\) is a polynomial of degree \(m, P_2(p)\) is a Hurwitz polynomial of degree \(n, n\geq m.\) A controller is constructed that ensures the desired location of the roots of the characteristic equation of the closed-loop system.